Task assignment for multi-robot systems (MRSs) in a smart factory (Industry 4.0) is described. Aspects are directed to a hypergraph based MRS and production model facilitating the cooperation among robots and serving frequent reconfiguration desired in Industry 4.0. Aspects are directed to a time complexity friendly search algorithm for real-time application using a hypergraph model to get task assignment(s). Parameters are provided for a tradeoff between solution optimality and time complexity. In an implementation, a system comprises a MRS comprising robots, wherein the MRS is configured to perform a manufacturing task, and a computing device configure to perform a multi-robot task allocation (MRTA) for the MRS. In an implementation, a method comprises generating task assignments, using MRTA, for robots of a MRS comprising the robots, wherein the MRS is configured to perform a manufacturing task, and providing the task assignments to the MRS.